A Novel Parallel Pinching and Self-adaptive Grasping Robotic Hand

被引：0
|
作者：
Liang, Dayao [1 ]
Zhang, Wenzeng [1 ]
机构：
[1] Tsinghua Univ, Dept Mech Engn, Beijing 100084, Peoples R China
来源：
SOCIAL ROBOTICS, (ICSR 2016) | 2016年 / 9979卷
关键词：
Robot hand; Underactuated finger; Parallel and self-adaptive grasp; Grasping stability; DESIGN;
D O I：
10.1007/978-3-319-47437-3_46
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces a novel underactuated hand, the PASA-GB hand which has a hybrid grasping mode. The hybrid grasping mode is a combination of parallel pinching (PA) grasp and self-adaptive enveloping (SA) grasp. In order to estimate the performance of grasping objects, the potential energy method is used to analyze the stabilities of the PASA-GB hand. The calculation of force distribution shows the influence of the size and position of objects and provides a method to optimize the force distribution. Experimental results verify the wide adaptability and high practicability of the PASA-GB hand.
引用
收藏
页码：469 / 480
页数：12
相关论文
共 50 条
  • [31] SAPM: Self-Adaptive Parallel Manipulator With Pose and Force Adjustment for Robotic Ultrasonography
    Bao, Xianqiang
    Wang, Shuangyi
    Zheng, Lingling
    Housden, Richard James
    Hajnal, Joseph
    Rhode, Kawal
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2023, 70 (10) : 10333 - 10343
  • [32] A Prosthetic Hand with Self-Adaptive Fingers
    Gopura, R. A. R. C.
    Bandara, D. S. V.
    Gunasekera, N. P. A.
    Hapuarachchi, V. H.
    Ariyarathna, B. S.
    2017 3RD INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS (ICCAR), 2017, : 269 - 274
  • [33] DEVELOPMENT OF MULTI-FINGERED ROBOTIC HAND WITH COUPLED AND DIRECTLY SELF-ADAPTIVE GRASP
    Li, Guoxuan
    Liu, Han
    Zhang, Wenzeng
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2012, 9 (04)
  • [34] Parallel Monitors for Self-adaptive Sessions
    Coppo, Mario
    Dezani-Ciancaglini, Mariangiola
    Venneri, Betti
    ELECTRONIC PROCEEDINGS IN THEORETICAL COMPUTER SCIENCE, 2016, (211): : 25 - 36
  • [35] GSR Hand: Linear-parallel and Self-adaptive Hand with Gear and Sliding-rod Mechanisms
    Hu, Handong
    Zhang, Wenzeng
    Xu, Xiangrong
    2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017), 2017, : 2197 - 2204
  • [36] Design of Linear Parallel and Self-adaptive Hand with Y-shaped Linkage Mechanisms
    Hu, Jian
    Zhang, Wenzeng
    Xu, Xiangrong
    Rodic, Aleksandar
    PROCEEDINGS OF 2018 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE RCAR), 2018, : 218 - 223
  • [37] INFLUENCE ON GRASPING AND PINCHING POWER AFTER HAND INJURY
    HIRANUMA, A
    JOURNAL OF BONE AND JOINT SURGERY-AMERICAN VOLUME, 1964, 46 (01): : 214 - 214
  • [38] Geometric optimization of a self-adaptive robotic leg
    Fedorov, Dmitri
    Birglen, Lionel
    TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING, 2018, 42 (01) : 49 - 60
  • [39] Changeable Grasping Force Unit for Under-Actuated Gripper with Self-adaptive Grasping
    Zhao, Deyang
    Zhang, Wenzeng
    INTELLIGENT ROBOTICS AND APPLICATIONS, PT I, 2010, 6424 : 13 - 25
  • [40] A Linkage-Driven Underactuated Robotic Hand for Adaptive Grasping and In-Hand Manipulation
    Li, Guotao
    Liang, Xu
    Gao, Yifan
    Su, Tingting
    Liu, Zhijie
    Hou, Zeng-Guang
    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2024, 21 (03) : 3039 - 3051
12345